Efficient Bipedal Robots Based on Passive-Dynamic Walkers

By Steven H. Collins, Andy Ruina, Russ Tedrake, M. Wisse. 2005

2,045 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Control and Systems Engineering, Mechanical Engineering

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Citations in the corpus

Verifiable Reinforcement Learning via Policy Extraction (2018, background): “Deep reinforcement learning has proven to be a promising approach for automatically learning policies for control problems [11, 22, 29].”
Learning quadrupedal locomotion over challenging terrain (2020, background): “This quantity represents positive mechanical power exerted by the actuator per unit weight and unit locomotion speed (28).”
Biped walking stabilization based on linear inverted pendulum tracking (2010, background): “In this view, a system has no explicit walking pattern as a function of time but has basin of attraction [2]–[4].”
Compliant Control of Multicontact and Center-of-Mass Behaviors in Humanoid Robots (2010, background): “The field of legged locomotion is vast and continues to broaden with pioneering contributions in areas such as hybrid nonlinear control [32], [34], biomimetic-coupled oscillators [3], [14], and passive dynamic walking [6], [20].”
> Replace This Line with Your Paper Identification Number (double-click Here to Edit) < 1 (neutral): “For walking in a straight line, the analysis of passive (i.e., unactuated) 3D bipeds is presented in [6] and references therein.”
A biologically inspired soft exosuit for walking assistance (2015, background): “Finally, both humans and passive dynamic walkers use small amounts of input energy at specific times in the gait cycle during walking (McGeer, 1990; Collins et al., 2005).”
On the Impact of Robotics in Behavioral and Cognitive Sciences: From Insect Navigation to Human Cognitive Development (2010, positive): “In our view, the marriage of robotic models with experimental analyses of biological locomotion promises to drive the next set of major advances in our understanding of aquatic propulsion [83].”
Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid (2012, background): “Adding limited actuation to machines designed for passive walking can yield a controlled, efficient gait (Collins et al. 2005).”